CN2777679Y - Recombinable modularized teaching robot - Google Patents
Recombinable modularized teaching robot Download PDFInfo
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- CN2777679Y CN2777679Y CN 200420082899 CN200420082899U CN2777679Y CN 2777679 Y CN2777679 Y CN 2777679Y CN 200420082899 CN200420082899 CN 200420082899 CN 200420082899 U CN200420082899 U CN 200420082899U CN 2777679 Y CN2777679 Y CN 2777679Y
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Abstract
The utility model provides a recombinable modularized teaching robot which is composed of a mechanical part and a control system, wherein the mechanical part comprises a walking module, a waist module, a wrist module and a clamping device which are respective independent modules and can be disassembled or combined. The utility model ensures that the robot structure is easily understood through free combination among the modules. The utility model is suitable for being used for teaching.
Description
Technical field
The invention belongs to Robotics, particularly a kind of reconstitutable, modular teaching robot.
Technical background
Robot was studied since the 1950's.At the research initial stage, robot is applied to industrial circle.Along with robot research deeply and further develop, the application of robot has obtained rapid expansion, these applications have service sector, safeguarding work, building trade or the like industry.
At the initial stage of robot development, cost is very expensive, this mainly is because in the eighties in 20th century, 1 computing machine is generally more than several ten thousand yuan, but along with computer technology rapid development, computer application constantly enlarges, and 1 present computing machine is having only on the market about 4,000 to 5,000 yuan only.This widespread use for robot provides objective condition.
The height of national strategy has been brought up in the quality-oriented education of China in recent years, the overall qualities of therefore how to cultivate university student and middle school student are pendulum difficult problems in face of China educator, how everybody further deepens middle school student's quality-oriented education problem of the reform in education, particularly China in thinking.From other angle, develop a kind of new product robot that can adapt to China's reform in education, will have vast market prospect.
Existing robots all comprises mechanical part and control system, and mechanical part adopts indivisible one-piece construction, by the whole running of control system control, this is difficult to that with regard to making the layman mechanical part of robot is had understanding clearly, for bringing a lot of inconvenience in the teaching.
Under such prerequisite, a kind of novel teaching robot has also been developed in inventor's research, and this teaching robot should be able to reach the cultivation manipulative ability, strengthens learning interest, make the teaching robot can cooperate the present reform in education simultaneously.
Summary of the invention
The purpose of this utility model is to overcome that existing robot can not recombinate, the shortcoming of cost costliness, and a kind of robot simple in structure, with low cost is provided.
To achieve these goals, the technical solution adopted in the utility model is: be made up of mechanical part and control system, mechanical part comprises walking module, waist module, wrist module and clamping device, described walking module, waist module, wrist module and clamping device are respectively independently module and detachable or combination, and described control system comprises main control module and execution module.
In the technique scheme, walking module adopts four-wheel tactic pattern or tricycle structure pattern, and described four-wheel structure is made up of each two wheels in front and back, and by the motor-driven trailing wheel, described tricycle structure is made up of front-wheel and two trailing wheels, and front-wheel is connected with Steering Wheel, and trailing wheel is then by motor-driven; Described waist module comprises arm segment and waist joint, described waist joint can realize that circumference rotates, described arm segment is connected with walking module by waist joint, arm segment comprises roll over module and linear arm mobile module, the module of rolling over realizes 360 ° of rotations by waist joint, the linear arm mobile module is then realized rising and the decline of waist with top, described module and the linear arm mobile module of rolling over can use respectively, use also can combine, by different combinations, make waist with upper module (waist itself has only a kind of structure, but more than be various) variation more; Described wrist module is connected with arm segment, and comprises a pair of conical gear driven by stepper motors, is used to realize the left rotation and right rotation of wrist, and the wrist module also can increase a Worm and worm-wheel gearing, is used to realize the rotating function up and down of wrist; Described clamper is connected with the arm module, and clamper adopts common right cylinder clamper or cube clamper.
Each module of mechanical part of the present utility model all is a module independently, adopt standard interface to realize connecting between the module, simplified the one-piece construction of robot greatly, and each module adopts multiple structure, but independent assortment, also can dismantle, different robots in the past all are the characteristics of integral structure, be convenient to the learner and have a taste of robot construction better in the process of freely assembling.
In the technique scheme, described control system adopts open modular structure, a module of each control module control mechanical part, control system comprises main control module and execution module, adopt the stagewise control mode, as main control module, finish the whole master stage control of robot by computing machine, execution module then is made up of one group of single-chip microcomputer, is used for finishing the execution level servocontrol of each module of robot.Adopt standard RS-232 communication protocol to communicate between each controlled stage, control system also comprises Coordination module and remote control module, main control module removes to coordinate each execution module by Coordination module, remote control module then can be realized the remote control of robot, so needn't pass through cable connection between the master control system of robot and the body.
The utility model has following advantage and effect with respect to present technology:
(1) control system of the present utility model mainly adopts common computer, does not need special equipment, so with low cost;
(2) the utility model can be dismantled and make up, and can cultivate the interest of operator to machinery and electronics, increases relevant knowledge, helps teaching;
(3) action of the robot that provides of the utility model can realize by drawing, and can also carry out real time remote control by computing machine;
(4) robot that provides of the utility model does not need to dispose cable, and control is convenient;
(5) the utility model adopts modular construction, so simple in structure;
(6) the utlity model has Open architecture, the operator can make things convenient for programming operation.
Description of drawings
Fig. 1 a is the structural representation of facing of an embodiment of the utility model;
Fig. 1 b is the side-looking structural representation of an embodiment of the utility model;
Fig. 2 is the four-wheel tactic pattern trailing wheel structural representation of walking module;
Fig. 3 is the structural representation of waist joint;
Fig. 4 is the modular structure synoptic diagram of rolling over;
Fig. 5 is a linear arm mobile module structural representation;
Fig. 6 faces structural representation for the wrist module;
Fig. 7 is a wrist module plan structure synoptic diagram;
Fig. 8 is a wrist module plan structure A-A cut-open view;
Fig. 9 is a control system block diagram of the present utility model;
Figure 10 is a running block diagram of the present utility model;
Figure 11 is a path planning block diagram of the present utility model;
Figure 12 is a wireless remote control block diagram of the present utility model.
Embodiment
Below in conjunction with accompanying drawing the utility model is described further, structural representation of the present utility model as shown in Figure 1, the front elevation of a as an embodiment who is provided wherein is provided, be made up of four-wheel structure walking module 6, waist joint 5, linear arm mobile module 4, arm rotary module 3, wrist module 2 and right cylinder clamping device 1, figure b is the side view of embodiment.
Four-wheel structure walking module is made up of each two wheels in front and back, preceding two-wheeled is a universal wheel, be directly connected on the base plate with screw, they are as supporting roller, only play the effect of supporting body, no guide effect, back two-wheeled is a driving wheel, drive respectively with two motors, the drives structure synoptic diagram of trailing wheel as shown in Figure 2, by trailing wheel 601, cylinder frame 602, motor 603, scrambler 604, reducer casing 605, bearing 606, holding screw 607, axle 608, base plate 609, bearing seat 610, trailing wheel axle sleeve 611, tight fixed bolt 612 is formed, motor 603 drives trailing wheel respectively by reducer casing 605, comes the travelling speed and the rotational angular velocity of control robot by the speed discrepancy of regulating two trailing wheels.Trailing wheel and front-wheel are made module respectively, can freely install and remove, and the trailing wheel module is fixed on the base plate by cylinder frame 602.
The structural representation of waist joint as shown in Figure 3, waist joint comprises parts such as direct current motor 501, fixed electrical machinery frame 502, holding screw 503, scrambler fixed mount 504, synchronous pulley 505, connecting shaft sleeve 506, shaft coupling 507, bolt 508, scrambler 509, support 510, sleeve 511, axle 512, upper end cover 513, bolt 514, bearing 515, bottom end cover 516, pad 517, nut 518, housing 519.Figure mid frame 502 and scrambler fixed mount 504 be fixedly direct current generator 501 and scrambler 509 respectively, direct current generator 501 is realized closely being connected with holding screw 503 by connecting shaft sleeve 506 with synchronous pulley 505, and connecting shaft sleeve 506 is realized being connected by shaft coupling 507 with scrambler 509; By synchronous pulley 505, direct current generator 501 transmission of power to be connected to arm the axle 512 on.For the sake of security, bearing 515 is fixed on the angle aluminium 510 by bolt 514 by sleeve 511, upper end cover 513 and bottom end cover 516, and angle aluminium 510 with regard to crossbearer on housing 519; Pad 517 and nut 518 be fixing synchronous pulley in the lower end of axle 512, and to realize steady transmission, the outrigger of waist joint engages by screw hole 508 with screw.
The structural representation of the module of rolling over as shown in Figure 4, rotating module comprises inner width tip side 401, U type connector 402, end cap 403, intermediate shaft 404, nylon sleeve 405, screw 406, Connection Block 407, external head end 408 and bearing 409.
Nipple 401 is wide tip sides, connects front-end module by bolt; Coupling 408 is narrow tip sides, connects rear module.U type connector 402 and Connection Block 407 respectively with nipple 401 and coupling 408 interference fit, form the two ends of rotating module.For weight reduction, improve mechanical efficiency, U type connector 402 and Connection Block 407 all adopt aluminium alloy to make.Rotating module is hinged by intermediate shaft 404.Intermediate shaft 404 drives after slowing down by the stepper motor that downside is installed, thereby realizes the rotational action of module.Wherein, intermediate shaft 404 adopts key to be connected with Connection Block 407.
The linear arm mobile module is responsible for the straight line shift action of robot waist with top, therefore needs bigger ratio of gear.For the structure that makes this module is more succinct, during design be with deceleration component directly design in the inside of module, the deceleration scheme that adopts the feed screw nut to move.This scheme has not only solved the gearing-down of straight line mobile module, and has simplified modular structure, makes things convenient for fabrication and installation.The structural representation of linear arm mobile module as shown in Figure 5.Bucket 301 in this module comprises, motor fixing plate 302, synchronous pulley 303, be with 304 synchronously, parts such as synchronous pulley case lid 305, interior bucket end cap 306, outer bucket 307, screw 308, propulsive element 309, interior bucket fixed cap 310, bearing 311 and screw mandrel 312.Among the figure, interior bucket 301 is the interior bucket of mobile module, adopts aluminum pipe to make, and is used for fixing screw mandrel.Interior bucket is connected by bolt with another module of front end.Urceolus 307 and screw mandrel support 309 relative fixed, screw mandrel support 309 cooperates with screw mandrel.When screw mandrel rotates, promote urceolus 307 and move as straight line.Outer bucket and interior bucket clearance fit are so that slide relatively.
As the wrist of robot, rotating flexibly is its maximum characteristics and function.In order to realize the left rotation and right rotation of clamper, present embodiment has adopted a pair of conical gear engagement, and by the stepper motor driven scheme of being with speed reduction unit.Shown in accompanying drawing 6, accompanying drawing 7, accompanying drawing 8, part main among the figure is:
It is not enough that a complete wrist has only the function of left rotation and right rotation, except the left rotation and right rotation function, also should possess the function of rotation up and down.From intergrating with practice and being beneficial to the operating system equal angles, present embodiment the is given range of movement of rotation up and down: rotational angle is 120 °.Gear train adopts worm gear 217 and worm screw 218 transmissions.Utilized steady and its exclusive auto-lock function of transmission of worm and gear.
Forward and backward connecting plate, worm and gear and back cover.Because the also bad processing of aluminium sheet insufficient strength, two connecting plates adopt corrosion resistant plate to make, back cover is an aluminum pipe.
The clamper of present embodiment can adopt existing common clamper.
Control system of the present utility model is intended adopting the stagewise control mode, as main control module, finishes the whole master stage control of robot by computing machine, and execution module then is made up of one group of single-chip microcomputer, is used for finishing the execution level servocontrol of robot.Adopt standard RS-232 communication protocol to communicate between each controlled stage.
The control system block diagram is made up of four ranks as shown in Figure 9, is respectively master stage, coordination level, execution level and remote control level.Master stage is the control core of total system, removes to coordinate each execution level by coordinating level; The remote control level then can realize the remote control of robot.
Master stage adopts common computer, by the intercommunication mutually of wireless communication module realization and robot; The coordination level is exactly the interface between master stage and the execution level; Execution level is the specific implementation part of robot motion, comprises the chassis travel mechanism, the various moving sets of fuselage, revolute pair, the controlled stage of clamping device etc.
Teaching robot provided by the utility model, its running approach adopts various ways, for example path planning, wireless remote control or the like.Can change setting at any time in the process of operation, re-assembly robot, reset the relevant agreement of serial ports etc., carry out the robot manipulation of various combination, its operational block diagram as shown in Figure 10.
Accompanying drawing 11 is the block diagram of path planning pattern, in the planning zone, can the path be set with click, also can be provided with in the coordinate points that dynamic coordinates regional is directly imported the path.In planning, can write down the coordinate points data in whole piece path in the location records zone.Just determine the track route of robot earlier in the mode of teaching, after setting up the path, just can bootup window, host computer carries out by serial communication path data being passed to slave computer after the data processing and carries out associative operation, allows robot according to set teaching route walking.Also can temporarily preserve, access after treating and move.
Accompanying drawing 12 is the wireless remote control block diagram, and wireless remote control can be the route indeterminate operation, also can be the straighforward operation that route is determined.The operator can come planning robot's walking path with telepilot, slave computer is passed to host computer to the path parameter of noting, after host computer is handled, will intactly draw the whole piece path come in the path planning zone, the mode of drawing the path is real-time, dynamic mode, even the displacement that the robot remote control is passed through is very little, can show in the path planning zone at once, after the remote control teaching is finished, the mode that can reappear with the path, allow robot under mode automatically according to the demonstration of walking again of the path of previous remote control planning.Also can preserve remote control teaching path, access again when needed and demonstrate.
During program run, to carry out the lot of data communication between host computer and the slave computer, how to guarantee that timely, accurate, the high-level efficiency of communication is a very important problem, particularly host computer.Usually, serial communication has inquiry and interrupts dual mode, interrupts being fit to single-chip microcomputer, and computing machine is not suitable on the contrary.For data can timely and effectively obtain handling, the serial ports service routine of host computer adopts the automated manner of poll and thread combination, create the transmitting-receiving that a thread comes the specialize serial data in addition, with the serial communication function package in a thread, thereby utilize the continuous execution of thread to reach the purpose of robotization.So just formed the multithread mode of application program, the executing efficiency height, data processing is in time quick.
The robot that present embodiment provides possesses following parameter:
Physical dimension scope: 0.7m (L) * 0.5m (W) * 0.7m (H)～1.2m * 1.2m * 1.4m;
Running gear maximal rate: 1m/s;
Running gear minimal curve radius: 0m;
Waist joint rotational angle: 0～360 °;
Waist joint maximum rotational speed: 10rpm;
The joint maximum rotation angle of rolling over: ± 90 °;
Joint rotation maximal rate: 5rpm rolls over;
Arm linear joint displacement: 200mm;
The arm linear joint moves maximal rate: 0.3m/s;
Wrist joint number: 2;
Wrist rotational angle: 120 °;
Wrist is rotated maximal rate: 3rpm;
Clamper maximum prudent: 2kg.
Claims (10)
1, a kind of reconstitutable modularization teaching robot, form by mechanical part and control system, it is characterized in that mechanical part comprises walking module, waist module, wrist module and clamping device, described walking module, waist module, wrist module and clamping device are respectively independently module and detachable or combination.
2, a kind of reconstitutable modularization teaching according to claim 1 robot is characterized in that described robot body controls not tape cable, and power supply is by the 24V powered battery.
3, a kind of reconstitutable modularization teaching according to claim 1 and 2 robot is characterized in that described walking module adopts four-wheel tactic pattern or tricycle structure pattern; Described four-wheel structure is made up of each two wheels in front and back, and by the motor-driven trailing wheel, described tricycle structure is made up of front-wheel and two trailing wheels, and front-wheel is connected with Steering Wheel, and trailing wheel is by motor-driven.
4, according to the described a kind of reconstitutable modularization teaching of right 3 robot, it is characterized in that described waist module comprises arm segment and waist joint, described arm segment is connected with walking module by waist joint.
5, a kind of reconstitutable modularization teaching according to claim 4 robot is characterized in that described arm segment comprises roll over module and linear arm mobile module.
6, a kind of reconstitutable modularization teaching according to claim 5 robot is characterized in that described wrist module is connected with arm segment, and comprises a pair of conical gear driven by stepper motors, or comprises Worm and worm-wheel gearing.
7, a kind of reconstitutable modularization teaching according to claim 6 robot is characterized in that described clamper is connected with the wrist module.
8, a kind of reconstitutable modularization teaching according to claim 7 robot is characterized in that described control system adopts open modular structure, a module of each module controls mechanical part.
9, a kind of reconstitutable modularization teaching according to claim 8 robot is characterized in that described control system comprises main control module and execution module, and described main control module is by computer realization, and described execution module is by chip microcontroller.
10, a kind of reconstitutable modularization teaching according to claim 9 robot is characterized in that described control system also comprises Coordination module and remote control module, and described Coordination module and main control module and execution module are mutual.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200420082899 CN2777679Y (en) | 2004-08-16 | 2004-08-16 | Recombinable modularized teaching robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200420082899 CN2777679Y (en) | 2004-08-16 | 2004-08-16 | Recombinable modularized teaching robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN2777679Y true CN2777679Y (en) | 2006-05-03 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200420082899 Expired - Fee Related CN2777679Y (en) | 2004-08-16 | 2004-08-16 | Recombinable modularized teaching robot |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104112390A (en) * | 2014-07-23 | 2014-10-22 | 南京理工大学 | Electromechanical comprehensive experiment platform |
| CN105751203A (en) * | 2016-03-28 | 2016-07-13 | 东北石油大学 | Mechanical arm and movement control card |
| CN106426228A (en) * | 2016-09-18 | 2017-02-22 | 柳州铁道职业技术学院 | Modularized robot teaching system |
| CN108172103A (en) * | 2018-01-30 | 2018-06-15 | 江苏理工学院 | A kind of experiment device for teaching based on four axis robots |
| CN108469824A (en) * | 2018-04-08 | 2018-08-31 | 浙江国自机器人技术有限公司 | A kind of floor-cleaning machine device people teaching type engineering construction system and method |
| CN108748359A (en) * | 2018-04-13 | 2018-11-06 | 盐城市协和机械有限公司 | A kind of fixed clamp system and clamping means of cutting machine |
| CN110936361A (en) * | 2019-12-16 | 2020-03-31 | 中国科学院沈阳自动化研究所 | A cooperation type removes operation robot mechanism for high-voltage chamber patrols and examines |
-
2004
- 2004-08-16 CN CN 200420082899 patent/CN2777679Y/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104112390A (en) * | 2014-07-23 | 2014-10-22 | 南京理工大学 | Electromechanical comprehensive experiment platform |
| CN105751203A (en) * | 2016-03-28 | 2016-07-13 | 东北石油大学 | Mechanical arm and movement control card |
| CN106426228A (en) * | 2016-09-18 | 2017-02-22 | 柳州铁道职业技术学院 | Modularized robot teaching system |
| CN108172103A (en) * | 2018-01-30 | 2018-06-15 | 江苏理工学院 | A kind of experiment device for teaching based on four axis robots |
| CN108469824A (en) * | 2018-04-08 | 2018-08-31 | 浙江国自机器人技术有限公司 | A kind of floor-cleaning machine device people teaching type engineering construction system and method |
| CN108748359A (en) * | 2018-04-13 | 2018-11-06 | 盐城市协和机械有限公司 | A kind of fixed clamp system and clamping means of cutting machine |
| CN110936361A (en) * | 2019-12-16 | 2020-03-31 | 中国科学院沈阳自动化研究所 | A cooperation type removes operation robot mechanism for high-voltage chamber patrols and examines |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C19 | Lapse of patent right due to non-payment of the annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |